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Commit1502d38

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authored
Merge pull request#514 from murrayrm/mimo_impulse_step_response
MIMO impulse and step response
2 parents0a08ff2 +28bbe7f commit1502d38

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5 files changed

+342
-111
lines changed

5 files changed

+342
-111
lines changed

‎control/config.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,6 @@
1717
_control_defaults= {
1818
'control.default_dt':0,
1919
'control.squeeze_frequency_response':None,
20-
'control.squeeze_time_response':True,
2120
'control.squeeze_time_response':None,
2221
'forced_response.return_x':False,
2322
}

‎control/iosys.py

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1428,8 +1428,9 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
14281428
foriinrange(len(T)):
14291429
u=U[i]iflen(U.shape)==1elseU[:,i]
14301430
y[:,i]=sys._out(T[i], [],u)
1431-
return_process_time_response(sys,T,y, [],transpose=transpose,
1432-
return_x=return_x,squeeze=squeeze)
1431+
return_process_time_response(
1432+
sys,T,y,np.array((0,0,np.asarray(T).size)),
1433+
transpose=transpose,return_x=return_x,squeeze=squeeze)
14331434

14341435
# create X0 if not given, test if X0 has correct shape
14351436
X0=_check_convert_array(X0, [(nstates,), (nstates,1)],

‎control/tests/matlab2_test.py

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -121,25 +121,25 @@ def test_step(self, SISO_mats, MIMO_mats, mplcleanup):
121121
#print("gain:", dcgain(sys))
122122

123123
subplot2grid(plot_shape, (0,0))
124-
t,y=step(sys)
124+
y,t=step(sys)
125125
plot(t,y)
126126

127127
subplot2grid(plot_shape, (0,1))
128128
T=linspace(0,2,100)
129129
X0=array([1,1])
130-
t,y=step(sys,T,X0)
130+
y,t=step(sys,T,X0)
131131
plot(t,y)
132132

133133
# Test output of state vector
134-
t,y,x=step(sys,return_x=True)
134+
y,t,x=step(sys,return_x=True)
135135

136136
#Test MIMO system
137137
A,B,C,D=MIMO_mats
138138
sys=ss(A,B,C,D)
139139

140140
subplot2grid(plot_shape, (0,2))
141-
t,y=step(sys)
142-
plot(t,y)
141+
y,t=step(sys)
142+
plot(t,y[:,0,0])
143143

144144
deftest_impulse(self,SISO_mats,mplcleanup):
145145
A,B,C,D=SISO_mats
@@ -168,8 +168,8 @@ def test_impulse_mimo(self, MIMO_mats, mplcleanup):
168168
#Test MIMO system
169169
A,B,C,D=MIMO_mats
170170
sys=ss(A,B,C,D)
171-
t,y=impulse(sys)
172-
plot(t,y,label='MIMO System')
171+
y,t=impulse(sys)
172+
plot(t,y[:, :,0],label='MIMO System')
173173

174174
legend(loc='best')
175175
#show()

‎control/tests/timeresp_test.py

Lines changed: 109 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -347,7 +347,7 @@ def test_impulse_response_mimo(self, mimo_ss2):
347347
yref_notrim=np.zeros((2,len(t)))
348348
yref_notrim[:1, :]=yref
349349
_t,yy=impulse_response(sys,T=t,input=0)
350-
np.testing.assert_array_almost_equal(yy,yref_notrim,decimal=4)
350+
np.testing.assert_array_almost_equal(yy[:,0,:],yref_notrim,decimal=4)
351351

352352
@pytest.mark.skipif(StrictVersion(sp.__version__)<"1.3",
353353
reason="requires SciPy 1.3 or greater")
@@ -639,9 +639,10 @@ def test_time_vector(self, tsystem, fun, squeeze, matarrayout):
639639
ifhasattr(tsystem,'t'):
640640
# tout should always match t, which has shape (n, )
641641
np.testing.assert_allclose(tout,tsystem.t)
642-
ifsqueezeisFalseorsys.outputs>1:
642+
643+
ifsqueezeisFalseornotsys.issiso():
643644
assertyout.shape[0]==sys.outputs
644-
assertyout.shape[1]==tout.shape[0]
645+
assertyout.shape[-1]==tout.shape[0]
645646
else:
646647
assertyout.shape==tout.shape
647648

@@ -725,21 +726,22 @@ def test_time_series_data_convention_2D(self, siso_ss1):
725726

726727
@pytest.mark.usefixtures("editsdefaults")
727728
@pytest.mark.parametrize("fcn", [ct.ss,ct.tf,ct.ss2io])
728-
@pytest.mark.parametrize("nstate, nout, ninp, squeeze, shape", [
729-
[1,1,1,None, (8,)],
730-
[2,1,1,True, (8,)],
731-
[3,1,1,False, (1,8)],
732-
[3,2,1,None, (2,8)],
733-
[4,2,1,True, (2,8)],
734-
[5,2,1,False, (2,8)],
735-
[3,1,2,None, (1,8)],
736-
[4,1,2,True, (8,)],
737-
[5,1,2,False, (1,8)],
738-
[4,2,2,None, (2,8)],
739-
[5,2,2,True, (2,8)],
740-
[6,2,2,False, (2,8)],
729+
@pytest.mark.parametrize("nstate, nout, ninp, squeeze, shape1, shape2", [
730+
# state out in squeeze in/out out-only
731+
[1,1,1,None, (8,), (8,)],
732+
[2,1,1,True, (8,), (8,)],
733+
[3,1,1,False, (1,1,8), (1,8)],
734+
[3,2,1,None, (2,1,8), (2,8)],
735+
[4,2,1,True, (2,8), (2,8)],
736+
[5,2,1,False, (2,1,8), (2,8)],
737+
[3,1,2,None, (1,2,8), (1,8)],
738+
[4,1,2,True, (2,8), (8,)],
739+
[5,1,2,False, (1,2,8), (1,8)],
740+
[4,2,2,None, (2,2,8), (2,8)],
741+
[5,2,2,True, (2,2,8), (2,8)],
742+
[6,2,2,False, (2,2,8), (2,8)],
741743
])
742-
deftest_squeeze(self,fcn,nstate,nout,ninp,squeeze,shape):
744+
deftest_squeeze(self,fcn,nstate,nout,ninp,squeeze,shape1,shape2):
743745
# Figure out if we have SciPy 1+
744746
scipy0=StrictVersion(sp.__version__)<'1.0'
745747

@@ -750,27 +752,56 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape):
750752
else:
751753
sys=fcn(ct.rss(nstate,nout,ninp,strictly_proper=True))
752754

753-
# Keep track of expect users warnings
754-
warntype=UserWarningifsys.inputs>1elseNone
755-
756755
# Generate the time and input vectors
757756
tvec=np.linspace(0,1,8)
758757
uvec=np.dot(
759758
np.ones((sys.inputs,1)),
760759
np.reshape(np.sin(tvec), (1,8)))
761760

761+
#
762762
# Pass squeeze argument and make sure the shape is correct
763-
withpytest.warns(warntype,match="Converting MIMO system"):
764-
_,yvec=ct.impulse_response(sys,tvec,squeeze=squeeze)
765-
assertyvec.shape==shape
763+
#
764+
# For responses that are indexed by the input, check against shape1
765+
# For responses that have no/fixed input, check against shape2
766+
#
766767

767-
_,yvec=ct.initial_response(sys,tvec,1,squeeze=squeeze)
768-
assertyvec.shape==shape
768+
# Impulse response
769+
ifisinstance(sys,StateSpace):
770+
# Check the states as well
771+
_,yvec,xvec=ct.impulse_response(
772+
sys,tvec,squeeze=squeeze,return_x=True)
773+
ifsys.issiso():
774+
assertxvec.shape== (sys.states,8)
775+
else:
776+
assertxvec.shape== (sys.states,sys.inputs,8)
777+
else:
778+
_,yvec=ct.impulse_response(sys,tvec,squeeze=squeeze)
779+
assertyvec.shape==shape1
769780

770-
withpytest.warns(warntype,match="Converting MIMO system"):
781+
# Step response
782+
ifisinstance(sys,StateSpace):
783+
# Check the states as well
784+
_,yvec,xvec=ct.step_response(
785+
sys,tvec,squeeze=squeeze,return_x=True)
786+
ifsys.issiso():
787+
assertxvec.shape== (sys.states,8)
788+
else:
789+
assertxvec.shape== (sys.states,sys.inputs,8)
790+
else:
771791
_,yvec=ct.step_response(sys,tvec,squeeze=squeeze)
772-
assertyvec.shape==shape
792+
assertyvec.shape==shape1
793+
794+
# Initial response (only indexed by output)
795+
ifisinstance(sys,StateSpace):
796+
# Check the states as well
797+
_,yvec,xvec=ct.initial_response(
798+
sys,tvec,1,squeeze=squeeze,return_x=True)
799+
assertxvec.shape== (sys.states,8)
800+
else:
801+
_,yvec=ct.initial_response(sys,tvec,1,squeeze=squeeze)
802+
assertyvec.shape==shape2
773803

804+
# Forced response (only indexed by output)
774805
ifisinstance(sys,StateSpace):
775806
# Check the states as well
776807
_,yvec,xvec=ct.forced_response(
@@ -779,52 +810,54 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape):
779810
else:
780811
# Just check the input/output response
781812
_,yvec=ct.forced_response(sys,tvec,uvec,0,squeeze=squeeze)
782-
assertyvec.shape==shape
813+
assertyvec.shape==shape2
783814

784815
# Test cases where we choose a subset of inputs and outputs
785816
_,yvec=ct.step_response(
786817
sys,tvec,input=ninp-1,output=nout-1,squeeze=squeeze)
787-
# Possible code if we implemenet a squeeze='siso' option
788818
ifsqueezeisFalse:
789819
# Shape should be unsqueezed
790-
assertyvec.shape== (1,8)
820+
assertyvec.shape== (1,1,8)
791821
else:
792822
# Shape should be squeezed
793823
assertyvec.shape== (8, )
794824

795-
# For InputOutputSystems, also testinput_output_response
825+
# For InputOutputSystems, also testinput/output response
796826
ifisinstance(sys,ct.InputOutputSystem)andnotscipy0:
797827
_,yvec=ct.input_output_response(sys,tvec,uvec,squeeze=squeeze)
798-
assertyvec.shape==shape
828+
assertyvec.shape==shape2
799829

800830
#
801831
# Changing config.default to False should return 3D frequency response
802832
#
803833
ct.config.set_defaults('control',squeeze_time_response=False)
804834

805-
withpytest.warns(warntype,match="Converting MIMO system"):
806-
_,yvec=ct.impulse_response(sys,tvec)
807-
assertyvec.shape== (sys.outputs,8)
835+
_,yvec=ct.impulse_response(sys,tvec)
836+
ifsqueezeisnotTrueorsys.inputs>1orsys.outputs>1:
837+
assertyvec.shape== (sys.outputs,sys.inputs,8)
808838

809-
_,yvec=ct.initial_response(sys,tvec,1)
810-
assertyvec.shape== (sys.outputs,8)
839+
_,yvec=ct.step_response(sys,tvec)
840+
ifsqueezeisnotTrueorsys.inputs>1orsys.outputs>1:
841+
assertyvec.shape== (sys.outputs,sys.inputs,8)
811842

812-
withpytest.warns(warntype,match="Converting MIMO system"):
813-
_,yvec=ct.step_response(sys,tvec)
814-
assertyvec.shape== (sys.outputs,8)
843+
_,yvec=ct.initial_response(sys,tvec,1)
844+
ifsqueezeisnotTrueorsys.outputs>1:
845+
assertyvec.shape== (sys.outputs,8)
815846

816847
ifisinstance(sys,ct.StateSpace):
817848
_,yvec,xvec=ct.forced_response(
818849
sys,tvec,uvec,0,return_x=True)
819850
assertxvec.shape== (sys.states,8)
820851
else:
821852
_,yvec=ct.forced_response(sys,tvec,uvec,0)
822-
assertyvec.shape== (sys.outputs,8)
853+
ifsqueezeisnotTrueorsys.outputs>1:
854+
assertyvec.shape== (sys.outputs,8)
823855

824856
# For InputOutputSystems, also test input_output_response
825857
ifisinstance(sys,ct.InputOutputSystem)andnotscipy0:
826858
_,yvec=ct.input_output_response(sys,tvec,uvec)
827-
assertyvec.shape== (sys.noutputs,8)
859+
ifsqueezeisnotTrueorsys.outputs>1:
860+
assertyvec.shape== (sys.outputs,8)
828861

829862
@pytest.mark.parametrize("fcn", [ct.ss,ct.tf,ct.ss2io])
830863
deftest_squeeze_exception(self,fcn):
@@ -861,3 +894,37 @@ def test_squeeze_0_8_4(self, nstate, nout, ninp, squeeze, shape):
861894

862895
_,yvec=ct.initial_response(sys,tvec,1,squeeze=squeeze)
863896
assertyvec.shape==shape
897+
898+
@pytest.mark.parametrize(
899+
"nstate, nout, ninp, squeeze, ysh_in, ysh_no, xsh_in", [
900+
[4,1,1,None, (8,), (8,), (8,4)],
901+
[4,1,1,True, (8,), (8,), (8,4)],
902+
[4,1,1,False, (8,1,1), (8,1), (8,4)],
903+
[4,2,1,None, (8,2,1), (8,2), (8,4,1)],
904+
[4,2,1,True, (8,2), (8,2), (8,4,1)],
905+
[4,2,1,False, (8,2,1), (8,2), (8,4,1)],
906+
[4,1,2,None, (8,1,2), (8,1), (8,4,2)],
907+
[4,1,2,True, (8,2), (8,), (8,4,2)],
908+
[4,1,2,False, (8,1,2), (8,1), (8,4,2)],
909+
[4,2,2,None, (8,2,2), (8,2), (8,4,2)],
910+
[4,2,2,True, (8,2,2), (8,2), (8,4,2)],
911+
[4,2,2,False, (8,2,2), (8,2), (8,4,2)],
912+
])
913+
deftest_response_transpose(
914+
self,nstate,nout,ninp,squeeze,ysh_in,ysh_no,xsh_in):
915+
sys=ct.rss(nstate,nout,ninp)
916+
T=np.linspace(0,1,8)
917+
918+
# Step response - input indexed
919+
t,y,x=ct.step_response(
920+
sys,T,transpose=True,return_x=True,squeeze=squeeze)
921+
assertt.shape== (T.size, )
922+
asserty.shape==ysh_in
923+
assertx.shape==xsh_in
924+
925+
# Initial response - no input indexing
926+
t,y,x=ct.initial_response(
927+
sys,T,1,transpose=True,return_x=True,squeeze=squeeze)
928+
assertt.shape== (T.size, )
929+
asserty.shape==ysh_no
930+
assertx.shape== (T.size,sys.states)

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